A treatment device used together with an endoscope, has a guide pipe and a movement mechanism. The guide pipe has a first pipe having a curving portion and a second pipe continuous with a proximal side of the curving portion. The curving portion has, in its inner circumferential surface, a bent surface bent to the second pipe, and bending the flow direction of the fluid discharged from the distal end of the sheath in a state where the distal end of the sheath is located near the distal end of the second pipe. The movement mechanism protrudes a distal surface of the insertion portion from the distal end of the sheath and brings the distal surface closer to or into abutment with the bent surface in a state where the distal end of the sheath is disposed near the distal end of the second pipe.

An access device for accessing an intervertebral disc having an outer shield comprising an access shield with a larger diameter (˜16-30 mm) that reaches from the skin down to the facet line, with an inner shield having a second smaller diameter (˜5-12 mm) extending past the access shield and reaches down to the disc level. This combines the benefits of the direct visual microsurgical/mini open approaches and the percutaneous, “ultra-MIS” techniques.

A surgical robot calibration device configured to be used when calibrating a surgical robotic system to perform a minimally invasive procedure through a natural orifice, the surgical robotic system comprising a surgical robotic arm and a surgical instrument having a rigid linear shaft, the surgical robot calibration device comprising a resistive spacer configurable to hold a calibration port in a fixed position spaced from the natural orifice, such that when the calibration port is held in the resistive spacer, the surgical instrument is insertable into the natural orifice via the calibration port to enable a fulcrum about which the surgical instrument pivots whilst the surgical instrument is inserted into the calibration port to be determined.

An access device for accessing an intervertebral disc having an outer shield comprising an access shield with a larger diameter (˜16-30 mm) that reaches from the skin down to the facet line, with an inner shield having a second smaller diameter (˜5-12 mm) extending past the access shield and reaches down to the disc level. This combines the benefits of the direct visual microsurgical/mini open approaches and the percutaneous, “ultra-MIS” techniques.

The present disclosure relates generally to the field of medical devices and methods to assist in the introduction of an instrument into a patient, and more particularly to medical devices for measuring and/or monitoring forces applied during introduction of an access sheath through a body lumen.

Example embodiments relate to robotic arm assemblies. The robotic arm assembly includes forearm and upper arm segments. Upper arm segment includes distal motor. Robotic arm assembly includes elbow coupling joint assembly connecting distal end of upper arm segment to proximal end of forearm segment via a serial arrangement of proximal and distal elbow joints. Proximal elbow joint is located between upper arm segment and distal elbow joint. Distal elbow joint is located between proximal elbow joint and forearm segment. Proximal elbow joint forms proximal main elbow axis. Distal elbow joint forms distal main elbow axis. Elbow coupling joint assembly includes distal elbow joint subassembly connected to forearm segment. Elbow coupling joint assembly includes proximal elbow joint subassembly connecting upper arm segment to distal elbow joint subassembly. Proximal elbow joint subassembly is configured to be driven to rotate forearm segment relative to proximal main elbow axis.

A surgical instrument guide assembly includes a main guide portion that includes a shaft portion extending along a longitudinal axis and a body portion extending along the longitudinal axis, and a proximal end of the shaft portion is disposed at a distal end of the body portion. The main guide portion further includes a first lumen and a second lumen that each extends along the longitudinal axis from a proximal end at a proximal end of the body portion to a distal end at a distal end of the shaft portion. A seal portion is coupled to the proximal end of the body portion of the main guide portion, and the seal portion includes a first port and a second port formed in a seal wall of the seal portion. The seal portion is selectively displaceable from a first position to a second position.

A medical device to protect a body opening, such as a vagina. The medical device may include a lumen and anchoring structure(s) for securing the device in the body opening. In some embodiments, the medical device includes a sleeve, a proximal ring attached to a proximal end of the sleeve, and a distal ring attached to a distal end of the sleeve.

Example embodiments relate to robotic arm assemblies. Embodiments of the robotic arm assembly include a shoulder segment and upper arm segment having a motor drive portion. Embodiments also include a shoulder coupling joint assembly connecting the upper arm segment to the shoulder segment. Shoulder coupling joint assembly includes a distal shoulder joint subassembly connected to the upper arm segment. The distal shoulder joint subassembly includes a distal shoulder joint forming a first axis. The distal shoulder joint subassembly includes a shoulder planetary gear assembly. Embodiments include an elbow coupling joint assembly connecting the upper arm segment to the forearm segment. The elbow coupling joint assembly includes a proximal elbow joint subassembly connected to the upper arm segment. The proximal elbow joint subassembly includes a proximal elbow joint forming a second axis. The proximal elbow joint subassembly includes an elbow planetary gear assembly.

Embodiments of a surgical access port system that comprises a retractor that is adapted for being coupled to a cap and that is particularly useful in natural orifice surgery are described. The retractor comprises an outer ring, wherein the outer ring is configured to be disposed proximate the natural orifice of the patient and substantially surround the orifice; a tubular body; and various stabilizing mechanisms surrounding the tubular body, sized and configured to stabilize and retain the retractor within the orifice. The stabilizing embodiments described herein are useful in all natural orifices and are of particular use in the vaginal surgery.